EE3114

Systems and Control

Tutorial - 3

Semester B, 2018-19

2018-9-19
More on Laplace Transform and Inverse Laplace Transform
 Laplace Transform
Exercise: (3 minutes)
For the LTI system

y + 4 y + 8y = u + u
Find the system transfer function
!(#)
= ?
%(#)
Exercise:
For the LTI system

y + 4 y + 8y = u + u
Find the system transfer function

Answer:

%MatLab Code
H = tf([1 1],[1 4 8])
Transfer function: Next, find its poles and zeros
s + 1
(3 minutes)
-------------
s^2 + 4 s + 8
Exercise:
For the LTI system

y + 4 y + 8y = u + u
Find the transfer function poles and zeros
Answer:
Y (s) s 1 s ( 1)
U (s) s 2 4s 8 ( s ( 2 2 j ))( s ( 2 2 j ))
zero: s = −1
poles: %MatLab Code
H = tf([1 1],[1 4 8]);
s =−2 − 2𝑗 zero(H)
s = −2 + 2𝑗 pole(H)
 Inverse Laplace Transform
Example: First-Order LTI System

Unit Step Input:

(constant 𝑇 > 0)

Output:

Inverse Laplace Transform à Unit Step Response

%% MatLab code
Hs = tf(1,[3 1]); %T = 3
step(Hs);
[y,t] = step(Hs,10); %Time [0,10]
plot (t,y);
 Inverse Laplace Transform
1
L
y (t ) Y (s)
• Partial fraction expansion and term-by-term inversion
Example (single poles):
Impulse Response
0.14

0.12

0.1

0.08

Amplitude
0.06

0.04
%%MatLab code
syms s; 0.02

Ys = 1/((s+2)*(s+4));
0
F = ilaplace(Ys); 0 0.5 1 1.5 2 2.5 3

ezplot(F,[0:0.1:3) Time (sec)

Example (multiple poles):

(Partial fraction)

2 1 2
𝑌 𝑠 =− − !
+
𝑠+2 𝑠+2 𝑠+1

𝑦 𝑡 = −𝑒 +,- − 𝑡𝑒 +,- + 𝑒 +-
%MatLab code
Exercise: (5 minutes)
𝑠−1
𝑌 𝑠 =
𝑠+2 ,
𝑦 𝑡 =?
Exercise: (5 minutes)
𝑠−1
𝑌 𝑠 =
𝑠+2 ,
𝑦 𝑡 =?

Answer:
.+/ 1 " 1!
𝑌 𝑠 = = .0, +
.0, ! .0, !

𝐶, = 𝑠 + 2 ,𝑌 𝑠 |.2+, = −3
3
𝐶/ = 𝑠 + 2 ,𝑌 𝑠 0 =1
3. .2+,
/ 4
𝑌 𝑠 = − .0, ! à 𝑦 𝑡 = 𝑒 +,- − 3𝑡𝑒 +,-
.0,
Exercise:

Constants:

K > 0, J > 0, B > 0

𝐾 is called the “gain”

Closed-loop Transfer Function = ? (5 minutes)

Exercise:

Constants:

K > 0, J > 0, B > 0

𝐾 is called the “gain”

Closed-loop Transfer Function = ? (5 minutes)

Answer:
Example:

Closed-loop Transfer Function:

! !
𝐵 𝐵 𝐵
𝐽𝑠 ! + 𝐵𝑠 + 𝐾 = 𝐽 𝑠 ! + 2 𝑠 + −𝐽 +𝐾
2𝐽 2𝐽 2𝐽
!
! !
𝐵 𝐵 𝐾
=𝐽 𝑠+ − −
2𝐽 2𝐽 𝐽

𝐵 𝐵 !
𝐾 𝐵 𝐵 !
𝐾 (Complex
=𝐽 𝑠+ + − 𝑠+ − − Conjugate
2𝐽 2𝐽 𝐽 2𝐽 2𝐽 𝐽
Poles)
Example:

Closed-loop Transfer Function:

 𝜔"!
=
𝑠 + 𝜁𝜔" − 𝑗𝜔# )(𝑠 + 𝜁𝜔" + 𝑗𝜔#

where
2
n, d n 1
Summary:

!!"
= (complex conjugate poles)
(#$%)(#$%∗)

where

2
n, d n 1
Geometric Meaning of Complex Conjugate Poles

2
p n j n 1

(if ζ = 1 then wn = s)
 𝜔!"
=
(𝑠 − 𝑝)(𝑠 − 𝑝∗)

2
n, d n 1

Inverse Laplace Transform (Table)

Case 1: 0 < 𝜁 < 1 (𝜔3 is real number)

/
à Response to unit step input 𝑅 𝑠 =
.

c(t)

Verify this formula using Table of Laplace Transforms (not required)

Exercise: (3 minutes)
/
c(t) = Let 𝜁 = , , 𝜔= = 2

(a) 𝑐 𝑡 = ?

(b) Sketch the curve of 𝑐(𝑡)

𝑡
Answer:
/
c(t) = Let 𝜁 = , , 𝜔= = 2

> +-
(a) 𝑐 𝑡 = 𝑒 sin( 3𝑡)
4

(b) Sketch:
𝑒 +- (envelope)

𝑡
 c(t)

à (wn, z) Representation

Sinusoidal signal y(t)

c(t) has

Frequency: 2
n 1

Decay envelop:
nt
e
 𝜔!"
=
(𝑠 − 𝑝)(𝑠 − 𝑝∗)

2
n, d n 1

Case 2: 𝜁 = 1
/
Response to unit step input 𝑅 𝑠 = .

𝜁 = 1 à 𝜎 = 𝜔$ and 𝜔% = 0 à 𝑝 = 𝑝∗ = −𝜎
)(*) ,! ,!
à = =
+(*) * ! -.,*-, ! *-, !
à (Inverse Laplace Transform)
𝑐 𝑡 = 𝜎 & 𝑡𝑒 '()
 𝜔!"
=
(𝑠 − 𝑝)(𝑠 − 𝑝∗)

2
n, d n 1
Case 3: 𝜁 > 1
/
Response to unit step input 𝑅 𝑠 = .

𝜎 > 𝜔= and 𝜔3 = 𝜔= 𝑎𝑗 𝑎= 1 − 𝜁"

à 𝑝 = −𝜎 − 𝑎𝜔= and 𝑝∗ = −𝜎 + 𝑎𝜔= (both real)

∗-
(a) 𝑝 < 0,𝑝∗ <0 à 𝑐 𝑡 = 𝛼𝑒 @- →0+ 𝛽𝑒 @

(b) 𝑝 < 0, 𝑝∗ = 0 à 𝑐 𝑡 = 𝛼𝑒 @- + 𝛽𝑒 A- → 𝛽
∗ @- @ ∗-
(c) 𝑝 < 0, 𝑝 > 0 à 𝑐 𝑡 = 𝛼𝑒 + 𝛽𝑒 →∞
END